Sliding Mode Control of Uncertain Nonlinear Discrete Delayed Time System Using Chebyshev Neural Network

摘要

This paper investigates a Chebyshev Neural Network (CNN) sliding mode controller for stabilization of time-delayed version of system with uncertainty and nonlinearity. The nonlinearity in the system is unknown but bounded and has been approximated with the help of CNN. The input delay has been balanced and further converted into regular form and the original system is converted into a delayed free version with the help of Smith Predictor. Now, the predicted states of the system and "Gao's reaching law" are used to derive the robust control law. Further, to prove the stability analysis Lyapunov-Krasovskii candidates has been chosen according to the proposed system. A numerical example is provided to illustrate the stability of the system in the presence of uncertainty, time delay and nonlinearity.